{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "%matplotlib notebook\n",
    "\n",
    "from arm_gui import *"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Calibration\n",
    "\n",
    "We need to calculate servo values given the desired angles of the servos. This calibration was done by measuring the gripper position for two different command inputs. From this, we can get the relation from servo angle to command value, since it's a linear relationship."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "from calibration import *\n",
    "\n",
    "print(Y0)\n",
    "print(state0)\n",
    "\n",
    "print(Y1)\n",
    "print(state1)\n",
    "\n",
    "draw_calibration_curve()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "segment\n",
      "-----------------------------\n",
      "[-0.78539816 -0.12        0.        ] -> [ 0.   -0.12  0.  ]\n",
      "stepcount: 7\n",
      "  [-0.78539816 -0.12        0.        ]\n",
      "  [-0.65449847 -0.12        0.        ]\n",
      "  [-0.52359878 -0.12        0.        ]\n",
      "  [-0.39269908 -0.12        0.        ]\n",
      "  [-0.26179939 -0.12        0.        ]\n",
      "  [-0.13089969 -0.12        0.        ]\n",
      "  [ 0.   -0.12  0.  ]\n",
      "segment\n",
      "-----------------------------\n",
      "[ 0.   -0.12  0.  ] -> [ 0.   -0.15  0.01]\n",
      "stepcount: 4\n",
      "  [ 0.   -0.12  0.  ]\n",
      "  [ 0.         -0.13        0.00333333]\n",
      "  [ 0.         -0.14        0.00666667]\n",
      "  [ 0.   -0.15  0.01]\n",
      "segment\n",
      "-----------------------------\n",
      "[ 0.   -0.15  0.01] -> [ 0.   -0.15 -0.02]\n",
      "stepcount: 4\n",
      "  [ 0.   -0.15  0.01]\n",
      "  [ 0.   -0.15  0.  ]\n",
      "  [ 0.   -0.15 -0.01]\n",
      "  [ 0.   -0.15 -0.02]\n"
     ]
    },
    {
     "data": {
      "image/png": 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vccpaSmrT4MGDueSSSxg/fjyrV6+mfv36HH/88Qmdnw2ZfYcDTwKlwfexKJZL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\nRU5ErkJggg==\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7fd908147810>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "from motion_path import *\n",
    "\n",
    "waypoints = [\n",
    "    np.array([-pi/4, -0.12, 0.0]),\n",
    "    np.array([0, -0.12, 0.0]),\n",
    "    np.array([0, -0.15, 0.01]),\n",
    "    np.array([0, -0.15, -0.02]),\n",
    "]\n",
    "\n",
    "path = path_from_waypoints(waypoints, 100)\n",
    "\n",
    "plot_path(waypoints + list(reversed(path)))"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 2",
   "language": "python",
   "name": "python2"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 2
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython2",
   "version": "2.7.12"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 1
}
